#pragma  once

#include "Common.h"
#include "organ/Shifter.h"
#include "communication/serial/AsyncSerial.h"
#include "conf/Config.h"
#include "communication/session/OrganSession.h"

class WheeledShifter:public Shifter
{
private:
	OrganSession m_serial;
	ConfigFile  m_config;
public:
	WheeledShifter(Assembler* pAssm);
	virtual ~WheeledShifter();
	virtual  ErrorCode Init();


	ErrorCode PushData(char* pData, uint32 nLen) ;
	ErrorCode OnReceive(const char* pData,uint32 nLen) ;

	ErrorCode Update(uint32 dtTime);

	virtual ErrorCode Move( MoveType moveType );
		



};